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#ifndef GPRMC_HPP
#define GPRMC_HPP

// ROSaic includes
#include <septentrio_gnss_driver/parsers/parser_base_class.hpp>
#include <septentrio_gnss_driver/parsers/string_utilities.h>
// Boost and ROS includes
#include <boost/make_shared.hpp>
#include <septentrio_gnss_driver/Gprmc.h>

extern std::string g_frame_id;
extern bool g_use_gnss_time;

/**
 * @file gprmc.hpp
 * @brief Derived class for parsing RMC messages
 * @date 28/09/20
 */

/**
 * @class GprmcParser
 * @brief Derived class for parsing RMC messages
 * @date 28/09/20
 */
class GprmcParser : public BaseParser<septentrio_gnss_driver::GprmcPtr>
{
public:
    /**
     * @brief Constructor of the class GprmcParser
     */
    GprmcParser() :
        BaseParser<septentrio_gnss_driver::GprmcPtr>(), was_last_gprmc_valid_(false)
    {
    }

    /**
     * @brief Returns the ASCII message ID, here "$GPRMC"
     * @return The message ID
     */
    const std::string getMessageID() const override;

    /**
     * @brief Parses one RMC message
     * @param[in] sentence The RMC message to be parsed
     * @return A ROS message pointer of ROS type septentrio_gnss_driver::GprmcPtr
     */
    septentrio_gnss_driver::GprmcPtr
    parseASCII(const NMEASentence& sentence) noexcept(false) override;

    /**
     * @brief Tells us whether the last RMC message was valid/usable or not
     * @return True if last RMC message was valid, false if not
     *
     * E.g. if the status is V=Void, then this function will also return false.
     */
    bool wasLastGPRMCValid() const;

    /**
     * @brief Declares the string MESSAGE_ID
     */
    static const std::string MESSAGE_ID;

    //! 1 kt = 0.51444444444 mps (meters per second)
    //! Note that constexpr is needed for in-class initialization of static data
    //! members.
    static constexpr double KNOTS_TO_MPS = 0.5144444;

private:
    /**
     * @brief Declares a boolean representing whether or not the last GPRMC message
     * was valid
     */
    bool was_last_gprmc_valid_;
};

#endif // GPRMC_HPP